EP1063440A2 - Approximation process of characteristic for control of an automated clutch - Google Patents
Approximation process of characteristic for control of an automated clutch Download PDFInfo
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- EP1063440A2 EP1063440A2 EP00112937A EP00112937A EP1063440A2 EP 1063440 A2 EP1063440 A2 EP 1063440A2 EP 00112937 A EP00112937 A EP 00112937A EP 00112937 A EP00112937 A EP 00112937A EP 1063440 A2 EP1063440 A2 EP 1063440A2
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- value
- calibration point
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- calibration
- manipulated variable
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/104—Clutch
- F16D2500/10406—Clutch position
- F16D2500/10412—Transmission line of a vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/502—Relating the clutch
- F16D2500/50236—Adaptations of the clutch characteristics, e.g. curve clutch capacity torque - clutch actuator displacement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/702—Look-up tables
- F16D2500/70205—Clutch actuator
- F16D2500/70217—Pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/702—Look-up tables
- F16D2500/70205—Clutch actuator
- F16D2500/70223—Current
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
- F16D2500/70402—Actuator parameters
- F16D2500/70418—Current
Definitions
- the invention relates to a method for approximating a characteristic, which a non-linear relationship between a manipulated variable and a controlled variable Control system describes in particular an automated vehicle clutch, by a first characteristic section and a second characteristic section
- Method for approximating a characteristic curve which has a relationship between a manipulated variable (I) and a controlled variable (p) of a controlled system, in particular one automated vehicle clutch describes, and which in its course a kink (K) and a method for regulating an automated clutch, in particular an electronically controlled vehicle clutch, with a Control device that depends on the condition of the clutch Characterized control variable (p) the value of the state of the clutch influencing manipulated variable (I) and those for determining the manipulated variable (I) a characteristic curve that uses a non-linear relationship between manipulated variable (I) and control variable (p) describes.
- the present invention is based on the problem of the generic method to further develop such that a simple and accurate approximation of the characteristic of a Clutch is enabled. Furthermore, a method for regulating a automated clutch are shown.
- the problem of regulation is solved by the features of claim 6 the approximation in connection with the generic features in that the second section of the characteristic curve is determined by: setting the manipulated variable to a first calibration value at a first calibration point, which leads to the first characteristic section is spaced; Measuring the value of the controlled variable at the first calibration point; Setting the Manipulated variable to a second calibration value at a second calibration point, which is the first Characteristic section and is spaced from the first calibration point; Measure the value the controlled variable at the second calibration point; Determine a straight line connecting the connects the first and the second calibration point; Determine one Intersection at which the straight line connects the first section of the curve crosses; Determining the second characteristic section as that part of the Straight lines from the intersection that contains the two calibration points.
- a particularly high level of accuracy is obtained when the first calibration value of the manipulated variable maximum value of the manipulated variable is. This is the distance between the two Calibration points as large as possible.
- a characteristic curve which has a relationship between a Manipulated variable and a controlled variable of a controlled system, in particular an automated one Vehicle clutch describes, and which has a kink in its course, is a Part of the characteristic curve between the kink and a maximum value of Control variable determined by: Setting the control variable to the maximum value of Manipulated variable at a first calibration point; Measure the value of the controlled variable on the first Calibration point; Setting the manipulated variable to a second calibration value on a second Calibration point spaced from the kink and the first calibration point; Measure the Value of the controlled variable at the second calibration point; Determining a connecting line, that connects the first and the second calibration point; Determine the Characteristic section as the section of the connecting straight line, that of the kink and the first calibration point is limited.
- the characteristic between the kink and the maximum value can be the manipulated variable simply via two calibration points and a straight line defined thereby determine and display with low memory requirements.
- the controlled variable is easy to detect when using a hydraulic Coupling the pressure of the hydraulic fluid serves as a controlled variable.
- a coordinate system in the figure shows a non-linear relationship between an electric current I of a proportional valve of a clutch as a manipulated variable and a hydraulic clutch pressure p as a controlled variable.
- a large number of individual measured values, which are indicated by a cloud-like group of individual points, is approximated here by a characteristic curve.
- This characteristic curve is formed from a section B of a straight line G b and a section A of a second straight line G a .
- the two sections A and B are connected to one another at an intersection P x . At this point the characteristic curve has a kink K.
- the straight line G a is defined in the present exemplary embodiment as a connecting straight line of a lower definition point (I 0 (G a ), p 0 (G a )) and an upper definition point (I 1 (G a ), P 1 (G a )) assumed to be known.
- the clutch is in a Bring driving situation in which the clutch capacity is greater than that to be transmitted Moment, e.g. when driving in excess pressure.
- the current I of the proportional valve is set to a first calibration value I 1 (G b ) which lies in the range of values to be determined.
- a first calibration point (I 1 (G b ), p 1 (G b )) is assigned to this value in the coordinate system, which is not on the straight line G a , that is to say is spaced apart from the characteristic section section A.
- the value p 1 (G b ) of the clutch pressure p is measured and the coordinates of the first calibration point are thus determined.
- the first calibration value I 1 (G b ), as shown in the present example, corresponds to the value of the maximum possible current I. This allows the greatest possible length of the section B and thus the greatest accuracy.
- the value of the current I is then set to a second calibration value I 0 (G b ), which is also in the range of values to be determined, and the value p 0 (G b ) of the clutch pressure p at the second calibration point (I 0 (G b ), p 0 (G b )) measured.
- the second calibration point (I 0 (G b ), p 0 (G b )) likewise does not lie on the straight line G a and is therefore spaced apart from the first characteristic section A.
- the distance to the first calibration point (I 1 (G b ), p 1 (G b )) should also be as large as possible in order to achieve the highest possible accuracy of the approximation.
- the section can be limited, for example, by one of the two calibration points or by a minimum or maximum possible value of the manipulated variable.
- the characteristic section B is limited on one side by the intersection point P x and on the other side by the first calibration point (I 1 (G b ), p 1 (G b )).
- the method can be described mathematically as follows:
- the second calibration point is determined at the point at which the distance ⁇ p / divider to the straight line G a reaches an applicable part of the deviation with maximum control.
- the section B of the characteristic curve between the kink K and the maximum value I 1 (G b ) of the current can be determined according to the following method variant.
- the current I is set to the maximum value (I 1 (G b )), and the value p 1 (G b ) of the clutch pressure p at the first calibration point (I 1 (G b ), p 1 (G b )) is determined .
- the current is set to a second calibration value I 0 (G b ) and the value p 0 (G b ) of the clutch pressure p at the second calibration point (I 0 (G b ), p 0 (G b )) is measured.
- the second calibration point (I 0 (G b ), p 0 (G b )) is spaced as clearly as possible from the kink K on the one hand and the first calibration point (I 1 (G b ), p 1 (G b )) on the other hand, by inaccuracies to minimize.
- the characteristic section B is then determined from the connecting line G b of the first and the second calibration point.
- the section of the connecting line G b that lies between the kink K and the first calibration point (I 1 (G b ), p 1 (G b )) is selected.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Approximation einer Kennlinie, welche einen nichtlinearen Zusammenhang zwischen einer Stellgröße und einer Regelgröße einer Regelstrecke insbesondere einer automatisierten Fahrzeugkupplung beschreibt, durch einen ersten Kennlinienteilabschnitt und einen zweiten Kennlinienteilabschnitt, ein Verfahren zur Approximation einer Kennlinie, welche einen Zusammenhang zwischen einer Stellgröße (I) und einer Regelgröße (p) einer Regelstrecke insbesondere einer automatisierten Fahrzeugkupplung beschreibt, und welche in ihrem Verlauf einen Knick (K) aufweist und ein Verfahren zur Regelung einer automatisierten Kupplung, insbesondere einer elektronisch gesteuerten Fahrzeugkupplung, mit einer Regeleinrichtung, die in Abhängkeit von einer den Zustand der Kupplung charakterisierenden Regelgröße (p) den Wert einer den Zustand der Kupplung beeinflussenden Stellgröße (I) bestimmt und die zur Bestimmung der Stellgröße (I) auf eine Kennlinie zurückgreift, welche einen nichtlinearen Zusammenhang von Stellgröße (I) und Regelgröße (p) beschreibt.The invention relates to a method for approximating a characteristic, which a non-linear relationship between a manipulated variable and a controlled variable Control system describes in particular an automated vehicle clutch, by a first characteristic section and a second characteristic section Method for approximating a characteristic curve, which has a relationship between a manipulated variable (I) and a controlled variable (p) of a controlled system, in particular one automated vehicle clutch describes, and which in its course a kink (K) and a method for regulating an automated clutch, in particular an electronically controlled vehicle clutch, with a Control device that depends on the condition of the clutch Characterized control variable (p) the value of the state of the clutch influencing manipulated variable (I) and those for determining the manipulated variable (I) a characteristic curve that uses a non-linear relationship between manipulated variable (I) and control variable (p) describes.
Zur automatisierten Regelung von Kupplungen werden Betriebseigenschaften der Kupplung bei verschiedenen Betriebszuständen in Form einer Kennlinie gespeichert. Diese beschreibt den Zusammenhang zwischen einer den Zustand der Kupplung charakterisierenden Regelgröße und einer den Zustand der Kupplung beeinflussenden Stellgröße.For automated control of clutches, operating characteristics of the Coupling stored in different operating states in the form of a characteristic curve. This describes the relationship between the state of the clutch characterizing control variable and influencing the state of the clutch Manipulated variable.
Die Ermittlung einer individuellen Kennlinie für eine Kupplung ist sehr aufwendig.The determination of an individual characteristic curve for a clutch is very complex.
Bei gekrümmten oder abgeknickten Kennlinien ist außerdem der Speicherplatzbedarf für eine vollständige Speicherung aller Werte der Kennlinie sehr hoch. Man versucht deshalb, die Kennlinie durch eine oder mehrere Geradenabschnitte anzunähern. Diese lassen sich dann aus wenigen gespeicherten Punkten berechnen. In the case of curved or kinked characteristic curves, the storage space requirement is also for a complete storage of all values of the characteristic is very high. One tries therefore, to approximate the characteristic curve through one or more straight line sections. This can then be calculated from a few saved points.
US 5.105.922 beschreibt eine hydraulische Kupplung mit einer gekrümmten und geknickten Kennlinie. DE 2 244 919 beschreibt ebenfalls eine hydraulische Kupplung, welche eine aus zwei Geradenabschnitten zusammengesetzten Kennlinie besitzt. Eine Methode zu ihrer Ermittlung ist jedoch nicht beschrieben.US 5,105,922 describes a hydraulic clutch with a curved and kinked characteristic. DE 2 244 919 also describes a hydraulic clutch, which has a characteristic curve composed of two straight sections. A However, the method for their determination is not described.
Der vorliegenden Erfindung liegt das Problem zugrunde, das gattungsbildende Verfahren derart weiterzubilden, daß eine einfache und genaue Approximation der Kennlinie einer Kupplung ermöglicht wird. Weiterhin soll ein Verfahren zur Regelung einer automatisierten Kupplung aufgezeigt werden.The present invention is based on the problem of the generic method to further develop such that a simple and accurate approximation of the characteristic of a Clutch is enabled. Furthermore, a method for regulating a automated clutch are shown.
Das Problem der Regelung wird durch die Merkmale des Anspruches 6 gelöst, dasjenige
der Approximation in Verbindung mit den gattungsbildenden Merkmalen dadurch, daß
der zweite Kennlinienteilabschnitt bestimmt wird durch: Einstellen der Stellgröße auf
einen ersten Eichwert an einem ersten Eichpunkt, der zum ersten Kennlinienteilabschnitt
beabstandet ist; Messen des Wertes der Regelgröße am ersten Eichpunkt; Einstellen der
Stellgröße auf einen zweiten Eichwert an einem zweiten Eichpunkt, der zum ersten
Kennlinienteilabschnitt und zum ersten Eichpunkt beabstandet ist; Messen des Wertes
der Regelgröße beim zweiten Eichpunkt; Bestimmen einer Verbindungsgeraden, die den
ersten und den zweiten Eichpunkt miteinander verbindet; Bestimmen eines
Schnittpunktes, an dem die Verbindungsgerade den ersten Kennlinienteilabschnitt
kreuzt; Bestimmen des zweiten Kennlinienteilabschnittes als denjenigen Teil der
Verbindungsgeraden ab dem Schnittpunkt, der die beiden Eichpunkte beinhaltet.The problem of regulation is solved by the features of
Durch Ermittlung der beiden Eichpunkte und ihrer Verbindungsgeraden läßt sich der zweite Kennlinienteilabschnitt schnell und speichersparend definieren. Eine Begrenzung der Approximation der Kennlinie durch die Verbindungsgerade auf denjenigen Teil der Verbindungsgeraden ab dem Schnittpunkt, der die beiden Eichpunkte beinhaltet, liefert die gewünschten Werte im zu bestimmenden Bereich und erhält die genauere Approximierung der Kennlinie durch den bereits bestimmten ersten Kennlinienteilabschnitt.By determining the two calibration points and their straight lines, the Define the second characteristic section quickly and in a way that saves memory. A limitation the approximation of the characteristic curve through the connecting straight line to that part of the Straight lines from the intersection that contains the two calibration points the desired values in the area to be determined and receives the more precise one Approximation of the characteristic by the already determined first Characteristic section.
Eine besonders hohe Genauigkeit ergibt sich, wenn der erste Eichwert der Stellgröße der maximale Wert der Stellgröße ist. Dadurch ist der Abstand zwischen den beiden Eichpunkten so groß wie möglich. A particularly high level of accuracy is obtained when the first calibration value of the manipulated variable maximum value of the manipulated variable is. This is the distance between the two Calibration points as large as possible.
Um geringen Speicherbedarf und gleichzeitig eine hohe Genauigkeit der Kennlinie zu erhalten, ist es günstig, wenn der erste Kennlinienteilabschnitt durch einen Teilabschnitt einer weiteren Gerade angenähert ist.In order to save memory space and at the same time ensure high accuracy of the characteristic received, it is favorable if the first characteristic section by a section is approximated to another straight line.
Eine Approximation der Kennlinie durch drei oder mehr Teilabschnitte kann zu einer verbesserten Genauigkeit beitragen.An approximation of the characteristic curve by three or more sections can become one contribute to improved accuracy.
Zur Approximation einer Kennlinie, welche einen Zusammenhang zwischen einer Stellgröße und einer Regelgröße einer Regelstrecke insbesondere einer automatisierten Fahrzeugkupplung beschreibt, und welche in ihrem Verlauf einen Knick aufweist, wird ein Teilabschnitt der Kennlinie zwischen dem Knick und einem maximalen Wert der Stellgröße bestimmt durch: Einstellen der Stellgröße auf den maximalen Wert der Stellgröße an einem ersten Eichpunkt; Messen des Wertes der Regelgröße am ersten Eichpunkt; Einstellen der Stellgröße auf einen zweiten Eichwert an einem zweiten Eichpunkt, der zum Knick und zum ersten Eichpunkt beabstandet ist; Messen des Wertes der Regelgröße beim zweiten Eichpunkt; Bestimmen einer Verbindungsgeraden, die den ersten und den zweiten Eichpunkt miteinander verbindet; Bestimmen des Kennlinienteilabschnittes als den Teilabschnitt der Verbindungsgerade, der vom Knick und dem ersten Eichpunkt eingegrenzt ist.For the approximation of a characteristic curve, which has a relationship between a Manipulated variable and a controlled variable of a controlled system, in particular an automated one Vehicle clutch describes, and which has a kink in its course, is a Part of the characteristic curve between the kink and a maximum value of Control variable determined by: Setting the control variable to the maximum value of Manipulated variable at a first calibration point; Measure the value of the controlled variable on the first Calibration point; Setting the manipulated variable to a second calibration value on a second Calibration point spaced from the kink and the first calibration point; Measure the Value of the controlled variable at the second calibration point; Determining a connecting line, that connects the first and the second calibration point; Determine the Characteristic section as the section of the connecting straight line, that of the kink and the first calibration point is limited.
Auf diese Weise läßt sich die Kennlinie zwischen dem Knick und dem maximalen Wert der Stellgröße einfach über zwei Eichpunkte und eine dadurch definierte Gerade ermitteln und mit geringem Speicherbedarf darstellen. Die Beschränkung der Approximation auf den Teilabschnitt der Verbindungsgerade, der vom Knick und dem ersten Eichpunkt eingegrenzt ist, gewährleistet die notwendige Genauigkeit.In this way, the characteristic between the kink and the maximum value can be the manipulated variable simply via two calibration points and a straight line defined thereby determine and display with low memory requirements. The limitation of Approximation to the section of the connecting straight line, that of the kink and the first calibration point is limited, ensures the necessary accuracy.
Die Regelung einer automatisierten Kupplung, insbesondere einer elektronisch gesteuerten Fahrzeugkupplung, mit einer Regeleinrichtung, die in Abhängkeit von einer den Zustand der Kupplung charakterisierenden Regelgröße den Wert einer den Zustand der Kupplung beeinflussenden Stellgröße bestimmt und die zur Bestimmung der Stellgröße auf eine Kennlinie zurückgreift, welche einen nichtlinearen Zusammenhang von Stellgröße und Regelgröße beschreibt, erfolgt durch eine Approximation der Kennlinie durch eines der bereits beschriebenen Verfahren zweckmäßig. Dies ermöglicht eine einfache Einstellung der Kupplungscharakteristika. Dadurch können die bei der Kupplungsfertigung einzuhaltenden Toleranzen weniger streng gehandhabt werden, da eine individuelle Einstellung jeder Kupplung ermöglicht ist.The regulation of an automated clutch, especially an electronic one controlled vehicle clutch, with a control device that is dependent on a the state of the clutch characterizing control variable the value of the state the manipulating variable influencing the clutch is determined and that for determining the Manipulated variable uses a characteristic curve that has a non-linear relationship of the manipulated variable and controlled variable is carried out by approximating the Characteristic curve expedient by one of the methods already described. this makes possible easy adjustment of the clutch characteristics. This allows the Tolerances to be adhered to coupling production are handled less strictly because an individual adjustment of each clutch is possible.
Eine leichte Erfaßbarkeit der Regelgröße ergibt sich, wenn bei einer hydraulischen Kupplung der Druck der Hydraulikflüssigkeit als Regelgröße dient.The controlled variable is easy to detect when using a hydraulic Coupling the pressure of the hydraulic fluid serves as a controlled variable.
Zur einfachen elektronischen Regelung des Drucks der Hydraulikflüssigkeit mittels elektromagnetischer Proportionalventile ist es zweckmäßig, daß bei einer Regelung des Drucks der Hydraulikflüssigkeit mittels elektromagnetischer Proportionalventile deren elektrischer Versorgungsstrom als Stellgröße dient.For simple electronic control of the pressure of the hydraulic fluid by means of Electromagnetic proportional valves, it is appropriate that when regulating the Hydraulic fluid pressure by means of electromagnetic proportional valves electrical supply current serves as a manipulated variable.
Die nachfolgenden Ausführungen dienen einer beispielhaften Veranschaulichung der Erfindung. Die Beschreibung nimmt dabei Bezug auf die Figur, die eine Kennlinie einer hydraulisch geregelten Kupplung zeigt.The following explanations serve to illustrate the Invention. The description makes reference to the figure, which is a characteristic of hydraulically controlled clutch shows.
In der Figur ist in einem Koordinatensystem ein nichtlinearer Zusammenhang zwischen einem elektrischen Strom I eines Proportionalventils einer Kupplung als Stellgröße und einem hydraulischen Kupplungsdruck p als Regelgröße dargestellt. Eine Vielzahl von einzelnen Meßwerten, die durch eine wolkenartige Gruppe einzelner Punkte angedeutet sind, ist hier angenähert durch eine Kennlinie. Diese Kennlinie ist gebildet aus einem Teilabschnitt B einer Geraden Gb und einem Teilabschnitt A einer zweiten Geraden Ga. Die beiden Teilabschnitte A und B sind an einem Schnittpunkt Px miteinander verbunden. An dieser Stelle weist die Kennlinie einen Knick K auf.A coordinate system in the figure shows a non-linear relationship between an electric current I of a proportional valve of a clutch as a manipulated variable and a hydraulic clutch pressure p as a controlled variable. A large number of individual measured values, which are indicated by a cloud-like group of individual points, is approximated here by a characteristic curve. This characteristic curve is formed from a section B of a straight line G b and a section A of a second straight line G a . The two sections A and B are connected to one another at an intersection P x . At this point the characteristic curve has a kink K.
Die Gerade Ga ist im vorliegenden Ausführungsbeispiel als Verbindungsgerade eines unteren Definitionspunktes (I0(Ga), p0(Ga)) und eines oberen Definitionspunktes (I1(Ga), P1(Ga)) definiert und wird als bekannt vorausgesetzt.The straight line G a is defined in the present exemplary embodiment as a connecting straight line of a lower definition point (I 0 (G a ), p 0 (G a )) and an upper definition point (I 1 (G a ), P 1 (G a )) assumed to be known.
Zur Bestimmung des zweiten Teilabschnittes B der Kennlinie wird die Kupplung in eine Fahrsituation gebracht, in der die Kupplungskapazität größer ist als das zu übertragende Moment, also z.B. beim Fahren in Überanpressung.To determine the second section B of the characteristic curve, the clutch is in a Bring driving situation in which the clutch capacity is greater than that to be transmitted Moment, e.g. when driving in excess pressure.
Dann wird der Strom I des Proportionalventils auf einen ersten Eichwert I1(Gb), der im zu bestimmenden Wertebereich liegt, eingestellt. Diesem Wert ist im Koordinatensystem ein erster Eichpunkt (I1(Gb), p1(Gb)) zugeordnet, der nicht auf der Geraden Ga liegt, also zum Kennlinienteilabschnitt A beabstandet ist. An diesem ersten Eichpunkt (I1(Gb), p1(Gb)) wird der Wert p1(Gb) des Kupplungsdruckes p gemessen und so die Koordinaten des ersten Eichpunktes bestimmt.Then the current I of the proportional valve is set to a first calibration value I 1 (G b ) which lies in the range of values to be determined. A first calibration point (I 1 (G b ), p 1 (G b )) is assigned to this value in the coordinate system, which is not on the straight line G a , that is to say is spaced apart from the characteristic section section A. At this first calibration point (I 1 (G b ), p 1 (G b )) the value p 1 (G b ) of the clutch pressure p is measured and the coordinates of the first calibration point are thus determined.
Vorzugsweise entspricht der erste Eichwert I1(Gb), wie im vorliegenden Beispiel dargestellt, dem Wert des maximal möglichen Stromes I. Dadurch läßt sich die größtmögliche Länge des Teilabschnittes B und somit die größte Genauigkeit erzielen.Preferably, the first calibration value I 1 (G b ), as shown in the present example, corresponds to the value of the maximum possible current I. This allows the greatest possible length of the section B and thus the greatest accuracy.
Anschließend wird der Wert des Stromes I auf einen zweiten Eichwert I0(Gb), der ebenfalls im zu bestimmenden Wertebereich liegt, eingestellt und der Wert p0(Gb) des Kupplungsdruckes p am zweiten Eichpunkt (I0(Gb), p0(Gb)) gemessen. Der zweite Eichpunkt (I0(Gb), p0(Gb)) liegt ebenfalls nicht auf der Geraden Ga und ist somit zum ersten Kennlinienteilabschnitt A beabstandet. Auch der Abstand zum ersten Eichpunkt (I1(Gb), p1(Gb)) sollte möglichst groß sein, um eine möglichst hohe Genauigkeit der Approximation zu erreichen.The value of the current I is then set to a second calibration value I 0 (G b ), which is also in the range of values to be determined, and the value p 0 (G b ) of the clutch pressure p at the second calibration point (I 0 (G b ), p 0 (G b )) measured. The second calibration point (I 0 (G b ), p 0 (G b )) likewise does not lie on the straight line G a and is therefore spaced apart from the first characteristic section A. The distance to the first calibration point (I 1 (G b ), p 1 (G b )) should also be as large as possible in order to achieve the highest possible accuracy of the approximation.
Beide Eichpunkte sind zum Zwecke einer möglichst genauen Annäherung des tatsächlichen Verlaufes der Kennlinie durch den Kennlinienteilabschnitt B deutlich gegenüber der Geraden Ga beabstandet.Both calibration points are clearly spaced from the straight line G a for the purpose of the most accurate approximation of the actual course of the characteristic curve by the characteristic curve section B.
Aus den beiden Eichpunkten läßt sich nun ihre Verbindungsgerade Gb bestimmen. Hieraus läßt sich ein Schnittpunkt Px errechnen, an welchem die Verbindungsgerade Gb die Gerade Ga und somit den ersten Kennlinienteilabschnitt A kreuzt.Their connecting line G b can now be determined from the two calibration points. From this an intersection P x can be calculated, at which the connecting line G b crosses the line G a and thus the first characteristic section A.
Eine optimale Annäherung der Kennlinie durch die Gerade Gb ist in der Hälfte der Verbindungsgerade Gb ab dem Schnittpunkt Px gegeben, die die beiden Eichpunkte beinhaltet.An optimal approximation of the characteristic by the line G b is given in the half of the connecting line G b from the intersection P x , which contains the two calibration points.
Der Abschnitt kann begrenzt werden beispielsweise durch einen der beiden Eichpunkte oder durch einen minimal bzw. maximal möglichen Wert der Stellgröße. Im vorliegenden Fall ist der Kennlinienteilabschnitt B zur einen Seite begrenzt durch den Schnittpunkt Px und zur anderen Seite durch den ersten Eichpunkt (I1(Gb), p1(Gb)).The section can be limited, for example, by one of the two calibration points or by a minimum or maximum possible value of the manipulated variable. In the present case, the characteristic section B is limited on one side by the intersection point P x and on the other side by the first calibration point (I 1 (G b ), p 1 (G b )).
Mathematisch läßt sich das Verfahren folgendermaßen beschreiben:
Die Differenz Δp zwischen dem gemessenen Wert p1(Gb) der Regelgröße am ersten
Eichpunkt (I1(Gb), p1(Gb)) und dem rechnerischen Wert p1(Ga) auf der Geraden Ga
entspricht:
Der Wert p0(Gb) des Kupplungsdruckes am zweiten Eichpunkt entspricht:
Dabei wird der zweite Eichpunkt an der Stelle bestimmt, an der der Abstand Δp/Teiler zur Geraden Ga einen applizierbaren Teil der Abweichung bei Maximalansteuerung erreicht.The second calibration point is determined at the point at which the distance Δp / divider to the straight line G a reaches an applicable part of the deviation with maximum control.
Zur Approximation einer geknickten oder einer lokal gekrümmten Kennlinie kann der Teilabschnitt B der Kennlinie zwischen dem Knick K und dem maximalen Wert I1(Gb) des Stromes nach folgender Verfahrensvariante bestimmt werden.To approximate a kinked or a locally curved characteristic curve, the section B of the characteristic curve between the kink K and the maximum value I 1 (G b ) of the current can be determined according to the following method variant.
Zunächst wird der Strom I auf den maximalen Wert (I1(Gb)) eingestellt, und der Wert p1(Gb) des Kupplungsdruckes p am ersten Eichpunkt (I1(Gb), p1(Gb)) ermittelt.First, the current I is set to the maximum value (I 1 (G b )), and the value p 1 (G b ) of the clutch pressure p at the first calibration point (I 1 (G b ), p 1 (G b )) is determined .
Dann wird der Strom auf einen zweiten Eichwert I0(Gb) eingestellt und der Wert p0(Gb) des Kupplungsdruckes p beim zweiten Eichpunkt (I0(Gb), p0(Gb)) gemessen. Der zweite Eichpunkt (I0(Gb), p0(Gb)) ist dabei zum Knick K einerseits und zum ersten Eichpunkt (I1(Gb), p1(Gb)) andererseits möglichst deutlich beabstandet, um Ungenauigkeiten zu minimieren.Then the current is set to a second calibration value I 0 (G b ) and the value p 0 (G b ) of the clutch pressure p at the second calibration point (I 0 (G b ), p 0 (G b )) is measured. The second calibration point (I 0 (G b ), p 0 (G b )) is spaced as clearly as possible from the kink K on the one hand and the first calibration point (I 1 (G b ), p 1 (G b )) on the other hand, by inaccuracies to minimize.
Aus der Verbindungsgeraden Gb des ersten und des zweiten Eichpunktes wird dann der Kennlinienteilabschnitt B bestimmt. Dabei wird der Teilabschnitt der Verbindungsgerade Gb gewählt, der zwischen dem Knick K und dem ersten Eichpunkt (I1(Gb), p1(Gb)) liegt. The characteristic section B is then determined from the connecting line G b of the first and the second calibration point. The section of the connecting line G b that lies between the kink K and the first calibration point (I 1 (G b ), p 1 (G b )) is selected.
Statt einer Approximation der Kennlinie durch einen oder zwei Teilabschnitte ist auch eine Annäherung durch drei oder mehr Teilabschnitte denkbar. Instead of an approximation of the characteristic curve by one or two sections an approximation by three or more sections is conceivable.
- AA
- Teilabschnitt der Geraden Ga Section of the straight line G a
- BB
- Teilabschnitt der Geraden Gb Section of the straight line G b
- Ga G a
- vorgegebene Geradegiven straight line
- Gb G b
- Verbindungsgerade von erstem und zweitem EichpunktStraight line connecting the first and second calibration point
- I1(Ga)I 1 (Ga)
- Wert der Stellgröße am oberen DefinitionspunktValue of the manipulated variable at the upper definition point
- p1(Ga)p 1 (G a )
- Wert der Regelgröße am oberen DefinitionspunktValue of the controlled variable at the upper definition point
- I0(Ga)I 0 (G a )
- Wert der Stellgröße am unteren DefinitionspunktValue of the manipulated variable at the lower definition point
- p0(Ga)p 0 (G a )
- Wert der Regelgröße am unteren DefinitionspunktValue of the controlled variable at the lower definition point
- I1(Ga)I 1 (G a )
- Wert der Stellgröße am ersten EichpunktValue of the manipulated variable at the first calibration point
- p1(Ga)p 1 (G a )
- Wert der Regelgröße am ersten EichpunktValue of the controlled variable at the first calibration point
- I0(Gb)I 0 (G b )
- Wert der Stellgröße am zweiten EichpunktValue of the manipulated variable at the second calibration point
- p0(Gb)p 0 (G b )
- Wert der Regelgröße am zweiten EichpunktValue of the controlled variable at the second calibration point
- ΔpΔp
- Differenz zwischen p(Gb) und p(Ga) bei I vom ersten EichpunktDifference between p (G b ) and p (G a ) at I from the first calibration point
- (I0(Gb), p0(Gb))(I 0 (G b ), p 0 (G b ))
- zweiter Eichpunktsecond calibration point
- (I1(Gb), p1(Gb))(I 1 (G b ), p 1 (G b ))
- erster Eichpunktfirst calibration point
- Px P x
- Schnittpunkt der Geraden Ga und Gb Intersection of the lines G a and G b
- KK
- KnickKink
- TeilerDivider
- applizierbare Größeapplicable size
Claims (8)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19928538A DE19928538A1 (en) | 1999-06-22 | 1999-06-22 | Method for approximating a characteristic curve and for controlling an automated clutch |
DE19928538 | 1999-06-22 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1063440A2 true EP1063440A2 (en) | 2000-12-27 |
EP1063440A3 EP1063440A3 (en) | 2003-07-16 |
EP1063440B1 EP1063440B1 (en) | 2006-12-20 |
Family
ID=7912128
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00112937A Expired - Lifetime EP1063440B1 (en) | 1999-06-22 | 2000-06-20 | Method for controlling an automatic clutch |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1063440B1 (en) |
AT (1) | ATE348962T1 (en) |
DE (2) | DE19928538A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1262360A1 (en) * | 2001-05-30 | 2002-12-04 | Eaton Corporation | Clutch calibration and control |
WO2022033778A1 (en) * | 2020-08-12 | 2022-02-17 | Audi Ag | Method for operating a friction clutch for a motor vehicle, and corresponding friction clutch |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008032475A1 (en) * | 2008-07-10 | 2010-01-14 | Magna Powertrain Ag & Co Kg | Method for calibrating clutch unit utilized for drive train of motor vehicle, involves determining gradient correction value of characteristic line for each line section and assigning determined gradient correction values to clutch unit |
DE102011101870B4 (en) | 2011-05-16 | 2017-08-10 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Method for estimating coupling parameters |
DE102012001198B4 (en) | 2012-01-24 | 2019-02-14 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Approximation and inversion of a clutch characteristic of motor vehicle clutches |
DE102015109600B3 (en) * | 2015-06-16 | 2016-11-03 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Method for determining the point of engagement of a hydraulically actuated clutch |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3905459A (en) * | 1972-09-13 | 1975-09-16 | Reintjes Eisenwerke | Hydraulically actuated plate clutch with accumulator |
US4624349A (en) * | 1984-09-25 | 1986-11-25 | Toyota Jidosha Kabushiki Kaisha | Method and apparatus for controlling an electromagnetic clutch for use on a vehicle |
DE19751455A1 (en) * | 1997-11-20 | 1999-05-27 | Volkswagen Ag | Procedure for controlling automatic, electronic clutch for car |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5105922A (en) * | 1991-04-01 | 1992-04-21 | Dana Corporation | Hydraulic clutch and transmission actuating system |
-
1999
- 1999-06-22 DE DE19928538A patent/DE19928538A1/en not_active Withdrawn
-
2000
- 2000-06-20 DE DE50013878T patent/DE50013878D1/en not_active Expired - Lifetime
- 2000-06-20 AT AT00112937T patent/ATE348962T1/en not_active IP Right Cessation
- 2000-06-20 EP EP00112937A patent/EP1063440B1/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3905459A (en) * | 1972-09-13 | 1975-09-16 | Reintjes Eisenwerke | Hydraulically actuated plate clutch with accumulator |
US4624349A (en) * | 1984-09-25 | 1986-11-25 | Toyota Jidosha Kabushiki Kaisha | Method and apparatus for controlling an electromagnetic clutch for use on a vehicle |
DE19751455A1 (en) * | 1997-11-20 | 1999-05-27 | Volkswagen Ag | Procedure for controlling automatic, electronic clutch for car |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1262360A1 (en) * | 2001-05-30 | 2002-12-04 | Eaton Corporation | Clutch calibration and control |
WO2022033778A1 (en) * | 2020-08-12 | 2022-02-17 | Audi Ag | Method for operating a friction clutch for a motor vehicle, and corresponding friction clutch |
Also Published As
Publication number | Publication date |
---|---|
DE50013878D1 (en) | 2007-02-01 |
ATE348962T1 (en) | 2007-01-15 |
EP1063440B1 (en) | 2006-12-20 |
EP1063440A3 (en) | 2003-07-16 |
DE19928538A1 (en) | 2001-01-04 |
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